At www.dailymail.co.uk/sciencetech/article-1306555/Our-terrifyingly-crowded-solar-system/ is a short post with a video clip of the asteroids that fly close to the earth – and only those discovered by telescope. It excludes the additional near earth objects found by the WISE mission. It was compiled by astronomer Scott Manley over the last 30 years. He is a former research student at Armagh Observatory.
Although the video gives the impression near space is full of objects Manley provides a word of caution. The sixe of the objects as plotted have been swollen to make them visible – and one point on the screen = one million km. Therefore, an asteroid that appears to be almost touching the earth could actually be a million km distant. In spite of all that, the video is pretty impressive.